How to "stick" an object to another such that it follows during animation
You may want the cylinders to keep their shape when the spheres are moving.
First approach: cylinders follow spheres

A way to do that is to use bones and a &quot;stretch to&quot; constraint for each bone:

The vertices of each cylinder are linked to there bone's group name.
Each bone is placed along its cylinder.
And each bone as a &quot;stretch to&quot; constraint to the sphere (with &quot;maintain volume&quot; to none in order to have no deformation of the diameter).

Second approach: spheres follow cylinders
If you prefer to rig/animate the cylinder and make the sphere follow, you can use a &quot;copy location&quot; constraint to the spheres:

For each sphere, indicate the armature to follow, then the bone and set head/tail ratio to 1 so that the sphere follow the tail of the bone.